98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
60 lines
2.1 KiB
C++
60 lines
2.1 KiB
C++
/***************************************************************************
|
|
* Copyright (c) 2023 Ondsel, Inc. *
|
|
* *
|
|
* This file is part of OndselSolver. *
|
|
* *
|
|
* See LICENSE file for details about copyright. *
|
|
***************************************************************************/
|
|
|
|
#include "AllowZRotationConstraintIqctJqc.h"
|
|
#include "EndFramec.h"
|
|
#include "MarkerFrame.h"
|
|
#include "EndFrameqc.h"
|
|
#include "CREATE.h"
|
|
#include "Symbolic.h"
|
|
#include "Constant.h"
|
|
#include "EulerAngleszxz.h"
|
|
|
|
using namespace MbD;
|
|
|
|
MbD::AllowZRotationConstraintIqctJqc::AllowZRotationConstraintIqctJqc(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj) :
|
|
DirectionCosineConstraintIqctJqc(frmi, frmj, axisi, axisj)
|
|
{
|
|
//Do nothing.
|
|
}
|
|
|
|
std::shared_ptr<AllowZRotationConstraintIqctJqc> MbD::AllowZRotationConstraintIqctJqc::With(EndFrmsptr frmi, EndFrmsptr frmj, size_t axisi, size_t axisj)
|
|
{
|
|
auto con = std::make_shared<AllowZRotationConstraintIqctJqc>(frmi, frmj, axisi, axisj);
|
|
con->initialize();
|
|
return con;
|
|
}
|
|
|
|
void MbD::AllowZRotationConstraintIqctJqc::postInput()
|
|
{
|
|
auto eqctI = std::static_pointer_cast<EndFrameqct>(frmI);
|
|
auto aAImJe = eqctI->getMarkerFrame()->aAOm->transposeTimesFullMatrix(frmJ->aAOe);
|
|
auto aEulerAngleszxz = aAImJe->eulerAngleszxz();
|
|
auto the1z = aEulerAngleszxz->at(1);
|
|
auto the2x = aEulerAngleszxz->at(2);
|
|
if (std::abs(the2x) < (M_PI / 2.0)) {
|
|
eqctI->phiThePsiBlks->at(1) = std::make_shared<Constant>(the1z);
|
|
}
|
|
else {
|
|
eqctI->phiThePsiBlks->at(1) = std::make_shared<Constant>(M_PI + the1z);
|
|
}
|
|
eqctI->postInput();
|
|
DirectionCosineConstraintIqctJqc::postInput();
|
|
}
|
|
|
|
void MbD::AllowZRotationConstraintIqctJqc::postPosIC()
|
|
{
|
|
//self becomeRedundantConstraint
|
|
throw SimulationStoppingError("To be implemented.");
|
|
}
|
|
|
|
std::string MbD::AllowZRotationConstraintIqctJqc::constraintSpec()
|
|
{
|
|
return "AllowZRotationConstraintIJ";
|
|
}
|